Processing unit and processing method for collision warning system, collision warning system, and motorcycle

ABSTRACT

The invention obtains a processing unit and a processing method capable of improving a rider&#39;s safety. The invention also obtains a collision warning system that includes the processing unit. The invention further obtains a motorcycle that includes the collision warning system.A processing unit (20) includes: an acquisition section (21) that acquires environment information corresponding to output of an environment detector (11); a determination section (22) that determines presence or absence of a possibility of a collision on the basis of the environment information; and a control section (23) that makes a warning device (30) output a warning in the case where the determination section (22) determines that there is the possibility of the collision. During travel of the motorcycle, the acquisition section (21) acquires posture information related to a bank angle of the motorcycle, and the control section (23) changes the warning output by the warning device (30) in accordance with the posture information.

BACKGROUND OF THE INVENTION

The invention relates to a processing unit and a processing method for acollision warning system that recognizes a possibility of a collisionoccurred to a traveling motorcycle by using an environment detectorprovided in the motorcycle and warns a rider, a collision warning systemthat includes the processing unit, and a motorcycle that includes thecollision warning system.

As a technique related to a motorcycle (a two-wheeled motor vehicle or athree-wheeled motor vehicle), a collision warning system that recognizesa possibility of a collision occurred to a traveling motorcycle andwarns a rider has been known. The collision warning system acquiresenvironment information that corresponds to output of an environmentdetector provided in the motorcycle and makes a warning device output awarning when determining that there is the possibility of the collisionon the basis of the environment information. The rider's operation isassisted by the warning that is output by the warning device (forexample, see JP-A-2009-116882).

SUMMARY OF THE INVENTION

In the conventional collision warning system, there is a case where thewarning device outputs such a warning that surprises the rider in astate where the motorcycle turns, that is, in a state where a large bankangle is generated in the motorcycle and a vehicle body becomesunstable. Thus, the rider's safety is possibly affected.

The invention has been made with the above-described problem as thebackground and therefore obtains a processing unit and a processingmethod capable of improving a rider's safety. The invention also obtainsa collision warning system that includes the processing unit. Theinvention further obtains a motorcycle that includes the collisionwarning system.

A processing unit according to the invention is a processing unit for acollision warning system that recognizes a possibility of a collisionoccurred to a traveling motorcycle by using an environment detectorprovided in said motorcycle and warns a rider. The processing unitincludes: an acquisition section that acquires environment informationcorresponding to output of the environment detector; a determinationsection that determines presence or absence of the possibility of thecollision on the basis of the environment information; and a controlsection that makes a warning device output a warning in the case wherethe determination section determines that there is the possibility ofthe collision. During travel of the motorcycle, the acquisition sectionacquires posture information related to a bank angle of the motorcycle,and the control section changes the warning output by the warning devicein accordance with the posture information.

A collision warning system according to the invention includes the aboveprocessing unit, the environment detector, and the warning device.

A motorcycle according to the invention includes the above collisionwarning system.

A processing method according to the invention is a processing methodfor a collision warning system that recognizes a possibility of acollision occurred to a traveling motorcycle by using an environmentdetector provided in said motorcycle and warns a rider. The processingmethod includes: an acquisition step of acquiring environmentinformation corresponding to output of the environment detector; adetermination step of determining presence or absence of the possibilityof the collision on the basis of the environment information; and acontrol step of making a warning device output a warning in the casewhere it is determined that there is the possibility of the collision inthe determination step. During travel of the motorcycle, in theacquisition step, posture information related to a bank angle of themotorcycle is acquired, and in the control step, the warning output bythe warning device is changed in accordance with the postureinformation.

In the processing unit, the collision warning system, the motorcycle,and the processing method according to the invention, the warning outputby the warning device is changed in accordance with the postureinformation related to the bank angle of the motorcycle. Therefore, in astate where the motorcycle turns, that is, in a state where the largebank angle is generated in the motorcycle and a vehicle body becomesunstable, the warning device outputs the appropriate warning, and thusthe rider's safety can be improved.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a view of a state where a collision warning system accordingto a first embodiment of the invention is mounted on a motorcycle.

FIG. 2 is a system configuration diagram of the collision warning systemaccording to the first embodiment of the invention.

FIG. 3 is a view illustrating a definition of a bank angle of themotorcycle.

FIG. 4 is a chart of an operation flow of a processing unit in thecollision warning system according to the first embodiment of theinvention.

FIG. 5 is a chart of an operation flow of a processing unit in acollision warning system according to a second embodiment of theinvention.

FIG. 6 is a chart of an operation flow of a processing unit in acollision warning system according to a third embodiment of theinvention.

DETAILED DESCRIPTION

A description will hereinafter be made on a processing unit, a collisionwarning system, a motorcycle, and a processing method according to theinvention by using the drawings.

Note that each of a configuration, an operation, and the like, whichwill be described below, is merely one example, and the processing unit,the collision warning system, the motorcycle, and the processing methodaccording to the invention are not limited to a case with such aconfiguration, such an operation, and the like.

For example, a description will hereinafter be made on a case where themotorcycle is a two-wheeled motor vehicle; however, the motorcycle maybe a three-wheeled motor vehicle. In addition, a description willhereinafter be made on a case where a possibility of a collision aheadof the motorcycle is recognized by using an environment detector thatdetects the front of the motorcycle. However, a possibility of acollision in another direction (a lateral direction, a rear direction,or the like) of the motorcycle may be recognized by using an environmentdetector that detects the other direction (the lateral direction, therear direction, or the like) of the motorcycle.

The same or similar description will appropriately be simplified or willnot be made below. In the drawings, the same or similar portions will bedenoted by the same reference signs. In addition, a detailed structurewill appropriately be depicted in a simplified manner or will not bedepicted.

First Embodiment

A description will hereinafter be made on a collision warning systemaccording to a first embodiment.

<Configuration of Collision Warning System>

A description will be made on a configuration of the collision warningsystem according to the first embodiment.

FIG. 1 is a view of a state where the collision warning system accordingto the first embodiment of the invention is mounted on a motorcycle.FIG. 2 is a system configuration diagram of the collision warning systemaccording to the first embodiment of the invention. FIG. 3 is a viewillustrating a definition of a bank angle of the motorcycle.

As depicted in FIG. 1 and FIG. 2 , a collision warning system 1 ismounted on a motorcycle 100. The collision warning system 1 at leastincludes an environment detector 11 that detects the front of themotorcycle 100, an inertial measurement unit (IMU) 12 that detectsinertia generated in the motorcycle 100, a processing unit (an ECU) 20,and a warning device 30.

The collision warning system 1 plays a role of recognizing a possibilityof a collision ahead of the traveling motorcycle 100 by using theenvironment detector 11 and a role of warning a rider by using thewarning device 30. The processing unit 20 acquires output of theenvironment detector 11 and output of the inertial measurement unit 12,and outputs a control command to the warning device 30. The processingunit 20 also receives output of various detectors (not depicted) used toacquire travel state information of the motorcycle 100, the rider'soperation state information, and the like, for example. Each device ofthe collision warning system 1 may exclusively be used in the collisionwarning system 1 or may also be used in another system.

The environment detector 11 is a radar, a Lidar, an ultrasonic sensor, acamera, or the like, for example, and continuously detects a peripheralobject(s) within a detection range during travel of the motorcycle 100.

The inertial measurement unit 12 includes a three-axis gyroscope sensorand a three-directional acceleration sensor, for example, and outputsthe detected inertia to the processing unit 20. The inertial measurementunit 12 may detect another physical quantity that can substantially beconverted to the inertia generated in the motorcycle 100. Alternatively,the inertial measurement unit 12 may be another detector that canacquire posture information related to a bank angle θL of the motorcycle100.

The processing unit 20 includes an acquisition section 21, adetermination section 22, and a control section 23. The sections of theprocessing unit 20 may collectively be provided in a single casing ormay separately be provided in multiple casings. In addition, theprocessing unit 20 may partially or entirely be constructed of amicrocomputer, a microprocessor unit, or the like, may be constructed ofa member in which firmware and the like can be updated, or may be aprogram module or the like that is executed by a command from a CPU orthe like, for example.

During the travel of the motorcycle 100, the acquisition section 21receives the output of the environment detector 11 and acquiresenvironment information that corresponds to the output. Then, thedetermination section 22 determines whether there is a possibility thatthe motorcycle 100 collides by using a known method. More specifically,the determination section 22 processes the environment information anddetermines whether there is the possibility that the motorcycle 100collides in consideration of the travel state information of themotorcycle 100, the rider's operation state information, and the likeacquired by using the various detectors. Then, in the case where thedetermination section 22 determines that there is the possibility of thecollision, the control section 23 makes the warning device 30 output awarning.

In addition, the acquisition section 21 acquires the posture informationrelated to the bank angle θL of the motorcycle 100 on the basis of theoutput of the inertial measurement unit 12. The posture informationrelated to the bank angle θL may be information of the bank angle θLitself or information of another physical quantity that cansubstantially be converted to the bank angle θL (for example, a yawrate, lateral acceleration, or the like generated in the motorcycle100). The bank angle θL is defined as a tilt angle of the motorcycle 100in a rolling direction with respect to a state where the motorcycle 100stands upright (see FIG. 3 ).

The warning device 30 may warn the rider by sound (that is, a sensationthrough an auditory organ as a sensory organ), may warn the rider by adisplay (that is, a sensation through a visual organ as the sensoryorgan), may warn the rider by vibrations (that is, a sensation through atactile organ as the sensory organ), or may warn the rider by acombination of those. More specifically, the warning device 30 is aspeaker, a display, a lamp, a vibrator, or the like, and may be providedin the motorcycle 100 or may be provided in an accessory such as ahelmet that is associated with the motorcycle 100. In addition, thewarning device 30 may be constructed of a single output device or may beconstructed of multiple output devices of the same type or differenttypes. The multiple output devices may be provided integrally or may beprovided separately.

<Operation of Collision Warning System>

A description will be made on an operation of the collision warningsystem according to the first embodiment.

FIG. 4 is a chart of an operation flow of the processing unit in thecollision warning system according to the first embodiment of theinvention.

The processing unit 20 executes the operation flow depicted in FIG. 4during the travel of the motorcycle 100.

(Acquisition Step)

In step S101, the acquisition section 21 acquires the environmentinformation that corresponds to the output of the environment detector11. In addition, the acquisition section 21 acquires the postureinformation related to the bank angle θL on the basis of the output ofthe inertial measurement unit 12.

(Determination Step)

In step S102, the determination section 22 processes the environmentinformation acquired in step S101 and determines whether there is thepossibility that the motorcycle 100 collides in consideration of thetravel state information of the motorcycle 100, the rider's operationstate information, and the like that are acquired by using the variousdetectors. If Yes, the processing proceeds to step S103. If No, theprocessing returns to step S101.

(Control Step)

In step S103 to step S105, the control section 23 makes the warningdevice 30 output the warning in a mode that corresponds to the postureinformation acquired in step S101.

More specifically, in step S103, the control section 23 determineswhether the posture information acquired in step S101 is postureinformation corresponding to the bank angle θL that is smaller than amaximum allowable bank angle θLth1. If Yes, the processing proceeds tostep S104. If No, the processing proceeds to step S105.

In step S104, the control section 23 makes the warning device 30 outputthe warning. In step S105, the control section 23 does not make thewarning device 30 output the warning. In the case where a state wherethe determination of Yes is made in step S102 and the determination ofNo is made in step S103 continues for reference duration or longer, thecontrol section 23 may make the warning device 30 output the warning.

<Effects of Collision Warning System>

A description will be made on effects of the collision warning systemaccording to the first embodiment.

The processing unit 20 includes: the acquisition section 21 thatacquires the environment information corresponding to the output of theenvironment detector 11; the determination section 22 that determinespresence or absence of the possibility of the collision on the basis ofthe environment information; and the control section 23 that makes thewarning device 30 output the warning in the case where the determinationsection 22 determines that there is the possibility of the collision.During the travel of the motorcycle 100, the control section 23 changesthe warning output by the warning device 30 in accordance with theposture information related to the bank angle θL of the motorcycle 100.Therefore, in a state where the motorcycle 100 turns, that is, in astate where the large bank angle θL is generated in the motorcycle 100and a vehicle body becomes unstable, the warning device 30 outputs theappropriate warning, and thus the rider's safety can be improved.

In the case where the acquisition section 21 acquires the postureinformation corresponding to the bank angle θL that is smaller than themaximum allowable bank angle θLth1, the control section 23 preferablymakes the warning device 30 output the warning. In the case where theacquisition section 21 acquires the posture information corresponding tothe bank angle θL that is larger than the maximum allowable bank angleθLth1, the control section 23 preferably does not make the warningdevice 30 output the warning. In this way, the rider's safety isreliably improved.

In particular, in the case where the state where the determinationsection 22 determines that there is the possibility of the collision andthe acquisition section 21 acquires the posture informationcorresponding to the bank angle θL that is larger than the maximumallowable bank angle θLth1 continues for the reference duration orlonger, the control section 23 preferably makes the warning device 30output the warning. With such a configuration, the rider's operation canbe assisted while the rider's safety is improved.

Second Embodiment

A description will hereinafter be made on a collision warning systemaccording to a second embodiment.

Note that the collision warning system according to the secondembodiment differs from the collision warning system according to thefirst embodiment only in terms of the operation flow of the processingunit 20. A description that overlaps or is similar to the description onthe collision warning system according to the first embodiment willappropriately be simplified or will not be made.

<Operation of Collision Warning System>

A description will be made on an operation of the collision warningsystem according to the second embodiment.

FIG. 5 is a chart of the operation flow of the processing unit in thecollision warning system according to the second embodiment of theinvention.

The processing unit 20 executes the operation flow depicted in FIG. 5during the travel of the motorcycle 100.

(Acquisition Step)

In step S201, the acquisition section 21 acquires the environmentinformation that corresponds to the output of the environment detector11. In addition, the acquisition section 21 acquires the postureinformation related to the bank angle θL on the basis of the output ofthe inertial measurement unit 12.

(Determination Step)

In step S202, the determination section 22 processes the environmentinformation acquired in step S201 and determines whether there is thepossibility that the motorcycle 100 collides in consideration of thetravel state information of the motorcycle 100, the rider's operationstate information, and the like that are acquired by using the variousdetectors. If Yes, the processing proceeds to step S203. If No, theprocessing returns to step S201.

(Control Step)

In step S203 to step S205, the control section 23 makes the warningdevice 30 output the warning in a mode that corresponds to the postureinformation acquired in step S201.

More specifically, in step S203, the control section 23 determineswhether the posture information acquired in step S201 is postureinformation corresponding to the bank angle θL that is smaller than areference bank angle θLth2. If Yes, the processing proceeds to stepS204. If No, the processing proceeds to step S205.

For example, in step S204, the control section 23 makes the warningdevice 30 output first warning sound in a first volume level. In stepS205, the control section 23 makes the warning device 30 output secondwarning sound in a second volume level that is lower than the firstvolume level. That is, the second warning sound is a warning with lowersensitivity than the first warning sound. The second warning sound maybe warning sound whose volume level is gradually increased with a lapseof time. The first warning sound corresponds to the “first warning” inthe invention, and the second warning sound corresponds to the “secondwarning” in the invention. The volume level corresponds to the“intensity” in the invention.

For example, in step S204, the control section 23 makes the warningdevice 30 output a first warning display in first brightness. In stepS205, the control section 23 makes the warning device 30 output a secondwarning display in second brightness that is lower than the firstbrightness. That is, the second warning display is a warning with thelower sensitivity than the first warning display. The second warningdisplay may be a warning display whose brightness is gradually increasedwith the lapse of time. The first warning display corresponds to the“first warning” in the invention, and the second warning displaycorresponds to the “second warning” in the invention. The brightnesscorresponds to the “intensity” in the invention.

For example, in step S204, the control section 23 makes the warningdevice 30 output a first warning vibration in a first amplitude. In stepS205, the control section 23 makes the warning device 30 output a secondwarning vibration in a second amplitude that is smaller than the firstamplitude. That is, the second warning vibration is a warning with thelower sensitivity than the first warning vibration. The second warningvibration may be a warning vibration whose amplitude is graduallyincreased with the lapse of time. The first warning vibrationcorresponds to the “first warning” in the invention, and the secondwarning vibration corresponds to the “second warning” in the invention.The amplitude corresponds to the “intensity” in the invention.

For example, in step S204, the control section 23 makes the warningdevice 30 output the first warning sound whose volume level changes in afirst cycle. In step S205, the control section 23 makes the warningdevice 30 output the second warning sound whose volume level is changedin a second cycle that is longer than the first cycle. That is, thesecond warning sound is the warning with the lower sensitivity than thefirst warning sound. The second warning sound may be warning sound whosecycle in the volume level change is gradually shortened with the lapseof time. The first warning sound corresponds to the “first warning” inthe invention, and the second warning sound corresponds to the “secondwarning” in the invention. The volume level change corresponds to the“change pattern” in the invention.

For example, in step S204, the control section 23 makes the warningdevice 30 output the first warning display whose brightness changes inthe first cycle. In step S205, the control section 23 makes the warningdevice 30 output the second warning display whose brightness is changedin the second cycle that is longer than the first cycle. That is, thesecond warning display is the warning with the lower sensitivity thanthe first warning display. The second warning display may be a warningdisplay whose cycle in the brightness change is gradually shortened withthe lapse of time. The first warning display corresponds to the “firstwarning” in the invention, and the second warning display corresponds tothe “second warning” in the invention. The brightness change correspondsto the “change pattern” in the invention.

For example, in step S204, the control section 23 makes the warningdevice 30 output the first warning vibration that vibrates in the firstcycle. In step S205, the control section 23 makes the warning device 30output the second warning vibration that vibrates in the second cyclethat is longer than the first cycle. That is, the second warningvibration is the warning with the lower sensitivity than the firstwarning vibration. The second warning vibration may be a warningvibration whose cycle is gradually shortened with the lapse of time. Thefirst warning vibration corresponds to the “first warning” in theinvention, and the second warning vibration corresponds to the “secondwarning” in the invention. The vibration corresponds to the “changepattern” in the invention.

For example, in step S204, the control section 23 makes the warningdevice 30 output the warning by a first output device that outputs sound(preferably loud sound). In step S205, the control section 23 makes thewarning device 30 output the warning by a second output device thatoutputs a display (preferably a less prominent display). That is, thewarning by the second output device is a warning that is sensed by therider through a different sensory organ from that used for the warningby the first output device. In addition, the warning by the secondoutput device is the warning with the lower sensitivity than the warningby the first output device. The warning by the first output devicecorresponds to the “first warning” in the invention, and the warning bythe second output device corresponds to the “second warning” in theinvention.

For example, in step S204, the control section 23 makes the warningdevice 30 output the warnings by the first output device that outputsthe sound and the second output device that outputs the display. In stepS205, the control section 23 makes the warning device 30 output thewarning by only the second output device. That is, the warning by thesecond output device in step S204 and step S205 is the warning that issensed by the rider through the different sensory organ from that usedfor the warning by the first output device in step S204. The warning bythe first output device in step S204 corresponds to the “first warning”in the invention, the warning by the second output device in step S204corresponds to the “third warning” in the invention, and the warning bythe second output device in step S205 corresponds to the “secondwarning” in the invention.

For example, in step S204, the control section 23 makes the warningdevice 30 output the warning by the first output device that outputs thevibration. In step S205, the control section 23 makes the warning device30 output the warning by the second output device that outputs the soundor the display. That is, the warning by the second output device is awarning that is sensed by the rider through the different sensory organfrom that used for the warning by the first output device. In addition,the warning by the second output device is the warning with the lowersensitivity than the warning by the first output device. Furthermore,the warning by the first output device applies an external force to therider, and the warning by the second output device does not apply theexternal force to the rider. The warning by the first output devicecorresponds to the “first warning” in the invention, and the warning bythe second output device corresponds to the “second warning” in theinvention.

For example, in step S204, the control section 23 makes the warningdevice 30 output the warnings by the first output device that outputsthe vibration and the second output device that outputs the sound or thedisplay. In step S205, the control section 23 makes the warning device30 output the warning by only the second output device. That is, thewarning by the second output device in step S204 and step S205 is thewarning that is sensed by the rider through the different sensory organfrom that used for the warning by the first output device in step S204.The warning by the first output device in step S204 corresponds to the“first warning” in the invention, the warning by the second outputdevice in step S204 corresponds to the “third warning” in the invention,and the warning by the second output device in step S205 corresponds tothe “second warning” in the invention.

<Effects of Collision Warning System>

A description will be made on effects of the collision warning systemaccording to the second embodiment.

In the case where the acquisition section 21 acquires the postureinformation corresponding to the bank angle θL that is smaller than thereference bank angle θLth2, the control section 23 preferably makes thewarning device 30 output the first warning. In the case where theacquisition section 21 acquires the posture information corresponding tothe bank angle θL that is larger than the reference bank angle θLth2,the control section 23 preferably makes the warning device 30 output thesecond warning that differs from the first warning. Therefore, therider's operation can be assisted while the rider's safety is improved.

In particular, the second warning is preferably the warning with thelower sensitivity than the first warning. With such a configuration, therider's safety is reliably improved. Furthermore, the second warning ispreferably the warning whose sensitivity is gradually improved. Withsuch a configuration, the assistance in the rider's operation can bepromoted while the rider's safety is improved.

In addition, in particular, the second warning is preferably the warningthat is sensed by the rider through the different sensory organ fromthat used for the first warning. With such a configuration, the rider'ssafety is reliably improved. Furthermore, the first warning ispreferably the warning that applies the external force to the rider, andthe second warning is preferably the warning that does not apply theexternal force to the rider. With such a configuration, in the statewhere the large bank angle θL is generated in the motorcycle 100 and thevehicle body becomes unstable, the application of the external force tothe rider is suppressed. Therefore, the rider's operation can beassisted while the rider's safety is reliably improved.

Moreover, in particular, the second warning is preferably the warningthat is sensed by the rider through the different sensory organ fromthat used for the first warning. In the case where the acquisitionsection 21 acquires the posture information corresponding to the bankangle θL that is smaller than the reference bank angle θLth2, thecontrol section 23 preferably makes the warning device 30 output thethird warning, which is sensed by the rider through the differentsensory organ from that used for the first warning, in addition to thefirst warning. In the case where the acquisition section 21 acquires theposture information corresponding to the bank angle θL that is largerthan the reference bank angle θLth2, the control section 23 preferablydoes not make the warning device 30 output the third warning. With sucha configuration, the rider's operation can be assisted while the rider'ssafety is reliably improved. Furthermore, the second warning and thethird warning are preferably the warnings that are sensed by the riderthrough the same sensory organ. With such a configuration, the rider canbe suppressed from missing the second warning, and thus the rider'ssafety is further reliably improved.

Third Embodiment

A description will hereinafter be made on a collision warning systemaccording to a third embodiment.

Note that the collision warning system according to the third embodimentdiffers from the collision warning systems according to the firstembodiment and the second embodiment only in terms of the operation flowof the processing unit 20. A description that overlaps or is similar tothe descriptions on the collision warning systems according to the firstembodiment and the second embodiment will appropriately be simplified orwill not be made.

<Operation of Collision Warning System>

A description will be made on an operation of the collision warningsystem according to the third embodiment.

FIG. 6 is a chart of the operation flow of the processing unit in thecollision warning system according to the third embodiment of theinvention.

The processing unit 20 executes the operation flow depicted in FIG. 6during the travel of the motorcycle 100.

(Acquisition Step)

In step S301, the acquisition section 21 acquires the environmentinformation that corresponds to the output of the environment detector11. In addition, the acquisition section 21 acquires the postureinformation related to the bank angle θL on the basis of the output ofthe inertial measurement unit 12.

(Determination Step)

In step S302, the determination section 22 processes the environmentinformation acquired in step S301 and determines whether there is thepossibility that the motorcycle 100 collides in consideration of thetravel state information of the motorcycle 100, the rider's operationstate information, and the like that are acquired by using the variousdetectors. If Yes, the processing proceeds to step S303. If No, theprocessing returns to step S301.

(Control Step)

In step S303 to step S307, the control section 23 makes the warningdevice 30 output the warning in a mode that corresponds to the postureinformation acquired in step S301.

More specifically, in step S303, the control section 23 determineswhether the posture information acquired in step S301 is the postureinformation corresponding to the bank angle θL that is smaller than themaximum allowable bank angle θLth1. If Yes, the processing proceeds tostep S304. If No, the processing proceeds to step S307.

In step S304, the control section 23 determines whether the postureinformation acquired in step S301 is the posture informationcorresponding to the bank angle θL that is smaller than the referencebank angle θLth2. Note that the reference bank angle θLth2 is thesmaller angle than the maximum allowable bank angle θLth1. If Yes, theprocessing proceeds to step S305. If No, the processing proceeds to stepS306.

In step S305, the control section 23 makes the warning device 30 performa similar operation to that in step S204 in FIG. 5 . In step S306, thecontrol section 23 makes the warning device 30 perform a similaroperation to that in step S205 in FIG. 5 . In step S307, the controlsection 23 makes the warning device 30 perform a similar operation tothat in step S105 in FIG. 4 .

<Effects of Collision Warning System>

A description will be made on effects of the collision warning systemaccording to the third embodiment.

In the case where the acquisition section 21 acquires the postureinformation corresponding to the bank angle θL that is smaller than thereference bank angle θLth2, the control section 23 preferably makes thewarning device 30 output the first warning. In the case where theacquisition section 21 acquires the posture information corresponding tothe bank angle θL that is larger than the reference bank angle θLth2 andis smaller than the maximum allowable bank angle θLth1, the controlsection 23 preferably makes the warning device 30 output the secondwarning that differs from the first warning. In the case where theacquisition section 21 acquires the posture information corresponding tothe bank angle θL that is larger than the maximum allowable bank angleθLth1, the control section 23 preferably does not make the warningdevice 30 output the warning. Therefore, the assistance in the rider'soperation can further reliably be improved while the rider's safety isimproved.

The description has been made so far on the first embodiment to thethird embodiment. However, the invention is not limited to thedescription of each of the embodiments. For example, only a part of eachof the embodiments may be implemented, or all or parts of theembodiments may be combined. In addition, all or parts of the steps ineach of the operation flows may be executed in a different order. Forexample, the acquisition of the posture information related to the bankangle θL in the acquisition steps S101, S201, S301 may be executed afterthe determination steps S102, S202, S302. Furthermore, in the secondembodiment and the third embodiment, the two types of the warnings areused differently by using the reference bank angle θLth2. However, threeor more types of the warnings may be used differently.

REFERENCE SIGNS LIST

-   -   1: Collision warning system    -   11: Environment detector    -   12: Inertial measurement unit    -   20: Processing unit    -   21: Acquisition section    -   22: Determination section    -   23: Control section    -   30: Warning device    -   100: Motorcycle    -   θL: Bank angle    -   θLth1: Maximum allowable bank angle    -   θLth2: Reference bank angle

The invention claimed is:
 1. A processing unit (20) for a collisionwarning system (1) for a motorcycle (100), the processing unit (20)comprising: an acquisition section (21) configured to acquireenvironment information corresponding to output of an environmentdetector (11); a determination section (22) configured to determine apresence or an absence of the possibility of a collision based on theenvironment information; and a control section (23) configured tooutput, via a warning device (30), a warning to a rider of themotorcycle (100) when the determination section (22) determines thatthere is the presence of the possibility of the collision, wherein theacquisition section (21) is configured to acquire posture informationrelated to a bank angle (θL) of the motorcycle (100), and the controlsection (23) is configured to change the warning output by the warningdevice (30) according to the posture information, the warning outputcorresponding to a determination that there is a presence of thepossibility of the collision, wherein, during travel of the motorcycle(100), the control section (23) is configured to make the warning device(30) output a first warning in response to determining that the postureinformation corresponding to the bank angle (θL) is smaller than areference bank angle (θLth2), and outputs, via the warning device (30),a second warning that differs from the first warning when the postureinformation corresponding to the bank angle (θL) is larger than thereference bank angle (θLth2).
 2. The processing unit (20) according toclaim 1, wherein the control section (23) is further configured tooutput, via the warning device (30), the warning when the postureinformation corresponding to the bank angle (θL) is smaller than amaximum allowable bank angle (θLth1), and does not output the warningwhen the posture information corresponding to the bank angle (θL) islarger than the maximum allowable bank angle (θLth1), wherein thereference bank angle (θLth2) is a smaller angle than the maximumallowable bank angle (θLth1).
 3. The processing unit (20) according toclaim 2, wherein the control section (23) outputs, via the warningdevice (30), the warning when the determination section (22) determinesthat there is the presence of the possibility of the collision and theposture information corresponding to the bank angle (θL) is larger thanthe maximum allowable bank angle (θLth1) for a reference duration. 4.The processing unit (20) according to claim 1, wherein the secondwarning has a sensitivity lower than a sensitivity of the first warning.5. The processing unit (20) according to claim 4, wherein a sensitivityof the second warning gradually improves.
 6. The processing unit (20)according to claim 4, wherein the second warning has an output intensitylower than an output intensity of the first warning.
 7. The processingunit (20) according to claim 4, wherein the second warning has a changepattern of a longer cycle than a change pattern of the first warning. 8.The processing unit (20) according to claim 1, wherein the secondwarning is configured to be sensed by the rider through a sensory organdifferent than a sensory organ that the first warning is configured tobe sensed by.
 9. The processing unit (20) according to claim 8, whereinthe first warning applies an external force to the rider, and the secondwarning does not apply an external force to the rider.
 10. Theprocessing unit (20) according to claim 8, wherein the control section(23) outputs, via the warning device (30), the first warning and a thirdwarning that is configured to be sensed by the rider through a sensoryorgan different than a sensory organ that the first warning isconfigured to be sensed by when the posture information corresponding tothe bank angle (θL) that is smaller than a reference bank angle (θLth2),and does not output, via the warning device (30), the third warning whenthe posture information corresponding to the bank angle (θL) that islarger than the reference bank angle (θLth2).
 11. The processing unit(20) according to claim 10, wherein the second warning and the thirdwarning are configured to be sensed by the rider through the samesensory organ.
 12. A collision warning system (1) comprising: theprocessing unit (20) according to claim 1; the environment detector(11); and the warning device (30).
 13. A motorcycle (100) comprising:the collision warning system (1) according to claim
 12. 14. A processingmethod for a collision warning system (1) for a motorcycle (100), theprocessing method comprising: acquiring environment informationcorresponding to output of an environment detector (11); determining apresence or an absence of the possibility of the collision based on theenvironment information; and making a warning device (30) output awarning to a rider of the motorcycle (100) in response to adetermination that there is the possibility of the collision in thedetermination step (S102, S202, S302), wherein posture informationrelated to a bank angle (θL) of the motorcycle (100) is acquired, andthe warning output by the warning device (30) is changed in accordancewith the posture information, wherein, during travel of the motorcycle(100), the control section (23) is configured to make the warning device(30) output a first warning upon in response to determining that theposture information corresponding to the bank angle (θL) is smaller thana reference bank angle (θLth2), and outputs, via the warning device(30), a second warning that differs from the first warning when theposture information corresponding to the bank angle (θL) is larger thanthe reference bank angle (θLth2).